Minotaur I rockets consist of the M55A1 first stage and SR19 second stage of a decommissioned Minuteman missile.[1] The Orion 50XL and Orion 38, from the Pegasus rocket, are used as third and fourth stages. A HAPS (Hydrazine Auxiliary Propulsion System) upper stage can also be flown if greater precision is needed, or the rocket needs to be able to manoeuvre to deploy multiple payloads.[2] It can place up to 580 kilograms (1,280 lb) of payload into a 185-kilometer (115 mi) low Earth orbit at 28.5 degrees of inclination.[1]